Flatness of Mechanical Systems with 3 Degrees of Freedom. Issue 13 (2015)

• Record Type: Journal Article
• Authors: Nicolau, Florentina; Respondek, Witold
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 13(2015)
• Page Start: 19
• Page End: 24
• Publication Date: 2015
• Subjects: mechanical systems -- flatness -- differential weight -- normal forms; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.10.208
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: We study flatness of two-input mechanical systems with 3 degrees of freedom. Our goal is to describe the geometry of this class of systems from the point of view of differential weight. We completely characterize flatness of differential weight 8 and 9. We show that a mechanical systems with 3 degrees of freedom is flat of differential weight 8 or 9 if and only if it is config-flat or vel-flat of differential weight 8 or 9 and we describe config-flatness of differential weight 10.